Active obstacle detection system and method for subway vehicles

The invention discloses an active obstacle detection system for subway vehicles, and the system comprises a lidar detection device, a millimeter wave radar detection device and a data fusion and control platform, wherein the lidar detection device emits a laser beam to an obstacle, and compares the signal reflected by the obstacle with an emitting signal to detect the position, speed, distance andangle of the obstacle; the millimeter wave radar detection device emits millimeter waves to the obstacle, and detects the shape, position, speed, distance and angle of the obstacle based on the echocharacteristics of the obstacle; the data fusion and control platform comprises a processor that receives information from the lidar detection device and the millimeter wave radar detection device, performs data fusion calculation processing, and outputs signals to the subway vehicle control and management system. The invention also discloses an active obstacle detection method for subway vehicles. The invention realizes a